四川轻化工大学学报（自然科学版）2024，Vol.37Issue(1)：71-78,8.DOI:10.11863/j.suse.2024.01.09
一种AGV路径规划的融合改进A*算法
A Fusion Improvement A* Algorithm for AGV Path Planning
摘要
Abstract
In response to the problems of inefficient search,redundant nodes and unsmooth paths,and the inability to guarantee optimal search paths of the traditional A* algorithm,an improved A* algorithm combined with dynamic window approach(DWA)for the real-time path planning algorithm has been proposed.Firstly,by adjusting the heuristic function of traditional A* algorithm,the search field is expanded safely,and the safety and efficiency of path planning is improved.Secondly,the redundant nodes on the extended domain path are eliminated by vertical distance restriction method,and the path is optimized by B curve,which fully guarantees the smoothness of automated guided vehicle(AGV)path.Finally,the key point of the improved A* algorithm to remove redundant nodes is taken as the target point of DWA algorithm.The fusion algorithm can plan a smooth path based on global optimal for AGV operation.The improved A* algorithm and fusion algorithm are validated through Matlab simulation experiments to be effective in achieving dynamic obstacle avoidance and path optimisation functions.The improved fusion algorithm reduced the path planning time and path length by 5.96%and 8.93%respectively compared with the literature algorithm,and the dynamic obstacle avoidance capability is verified in a dynamic environment.关键词
自动导引车/路径规划/动态窗口法/A*算法/融合算法Key words
automated guided vehicle/path planning/dynamic window approach/A* algorithm/fusion algorithm分类
信息技术与安全科学引用本文复制引用
赵云龙,王新杰,成奎,唐林..一种AGV路径规划的融合改进A*算法[J].四川轻化工大学学报（自然科学版）,2024,37(1):71-78,8.基金项目
四川省科技厅面上项目(19ZDYF2284) （19ZDYF2284）
宜宾市科技计划项目(2021GY008) （2021GY008）
四川轻化工大学研究生创新基金项目(Y2022148) （Y2022148）
